EP0051974B1 - Regelschaltung für einen Gleichstrommotor mit Permanentmagnet - Google Patents

Regelschaltung für einen Gleichstrommotor mit Permanentmagnet Download PDF

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Publication number
EP0051974B1
EP0051974B1 EP81305235A EP81305235A EP0051974B1 EP 0051974 B1 EP0051974 B1 EP 0051974B1 EP 81305235 A EP81305235 A EP 81305235A EP 81305235 A EP81305235 A EP 81305235A EP 0051974 B1 EP0051974 B1 EP 0051974B1
Authority
EP
European Patent Office
Prior art keywords
amplifier
motor
output
transistor
feedback
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
EP81305235A
Other languages
English (en)
French (fr)
Other versions
EP0051974A1 (de
Inventor
David Wiley
Colin Keith Greene
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ZF International UK Ltd
Original Assignee
Lucas Industries Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Lucas Industries Ltd filed Critical Lucas Industries Ltd
Publication of EP0051974A1 publication Critical patent/EP0051974A1/de
Application granted granted Critical
Publication of EP0051974B1 publication Critical patent/EP0051974B1/de
Expired legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
    • H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
    • H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
    • H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
    • H02P7/285—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only
    • H02P7/29—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using pulse modulation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
    • H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
    • H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
    • H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
    • H02P7/285—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only
    • H02P7/29—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using pulse modulation
    • H02P7/291—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using pulse modulation with on-off control between two set points, e.g. controlling by hysteresis
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
    • H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
    • H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
    • H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
    • H02P7/285—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only
    • H02P7/29—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using pulse modulation
    • H02P7/2913—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using pulse modulation whereby the speed is regulated by measuring the motor speed and comparing it with a given physical value

Definitions

  • This invention relates to a permanent magnet d.c. motor control circuit.
  • Control of a permanent magnet d.c. motor can be effected by varying the average voltage impressed on the motor, the speed being determined by the load/speed characteristic of the motor.
  • Such control is, for many applications, preferable to control by conventional closed loop speed controls (see e.g. French Patent No. 1,556,916), since such controls can be unstable in some load conditions and curing of the instability can render the control loop complex and expensive.
  • a permanent magnet d.c. motor control circuit for controlling the voltage applied to the motor, comprising an output amplifier having the motor as its load, a driver amplifier for driving the output amplifier, a reference signal generator which is independent of supply voltage variations, feedback means and mark-to-space ratio control means and connected to said reference signal generator and controlling the driver amplifier so as to switch the output amplifier on and off, characterised by a circuit connecting the output of the driver amplifier to the input of the output amplifier and having thereon a feedback signal take-off point, the average voltage at which is representative of the average voltage impressed on the motor by the output amplifier, said feedback signal take-off point being buffered from the motor by the output amplifier and being connected to said feedback means, whereby the mark-to-space ratio is controlled to maintain the average voltage at said feedback take-off point at a level determined by said reference signal generator independently of motor speed and supply voltage variations, so that the average voltage applied to the motor is controlled independently of the supply voltage variations.
  • the circuit includes a positive supply rail 10 and a ground rail 11.
  • a resistor R is connected between rail 10 and the cathode of a zener diode ZD 1 , the anode of which is connected to rail 11.
  • the cathode of zener diode ZD 1 is connected by a resistor R 2 , a potentiometer R 3 and a resistor R 4 in series to the rail 11.
  • the slider of potentiometer R 3 provides a reference signal which is adjustable but independent of supply voltage variations.
  • the slider of potentiometer R 3 is connected by a resistor R 5 to the emitter of a pnp transistor T 1 , the collector of which is connected by a resistor R 6 to the rail 11.
  • the collector of the transistor T is connected to the base of an npn transistor T 2 forming the input stage of a switching amplifier.
  • the emitter of transistor T 2 is connected to the rail 11 and its collector is connected by two resistors R 7 , R 8 in series to the cathode of the zener diode ZD 1 .
  • a pnp transistor T 3 has its emitter connected to the cathode of the zener diode ZD, and its base connected to the junction of the resistors R 7 and R 8 .
  • the collector of the transistor T 3 is connected by three resistors R 10 , R 11 and R 20 in series to the rail 11.
  • the junction of resistors R 10 and R 11 is connected by a resistor R 9 and a capacitor C 2 in series to the base of transistor T 2 so as to provide transient positive feedback and thereby provide rapid switching of transistors T 2 and T 3 between their on and off states.
  • the junction of the resistors R 11 and R 20 is connected to the base of an npn transistor T 4 providing the input stage of a driver amplifier A.
  • the emitter of the transistor T 4 is connected through a resistor R21 to the rail 11 and its collector is connected by two resistors R 12 , R 13 in series to the rail 10.
  • a capacitor C 3 is also connected between the collector of the transistor T 4 and the rail 10.
  • a pnp transistor T 5 has its emitter connected to the rail 11 and its base connected to the junction of the resistors R 12 , R 13 .
  • the collector of the transistor T 5 is connected by three resistors R 15 , R 16 , and R 17 in series to the rail 11.
  • the junction of resistors R 15 and R 16 forms a feedback signal take-off point X which is connected by a resistor R, 4 to the base of the transistor T 1 , which base is also connected by a capacitor C, to the rail 11.
  • An npn transistor T 6 forming the input stage of an output amplifier B has its emitter connected to the rail 11 and its base connected to the junction of the resistors R 16 and R 17 .
  • the collector of the transistor T 6 is connected to the bases of two pnp power transistors T 7 and T 8 connected as parallel emitter followers with their collectors connected by the rail 11 and their emitters connected by respective current sharing resistors R 18 , R 19 to one terminal of the permanent magnet d.c. motor M, the other terminal of which is connected to the rail 10.
  • a "freewheel" diode D is connected across the motor M.
  • the transistors T 2 and T 3 operate as a constant frequency switching circuit, capacitor C 2 and resistor Rg providing transient regenerative feedback.
  • the mark-to-space ratio of these oscillations is controlled by the voltage across resistor R 6 which in turn is dependent on the voltage on capacitor C, relative to the voltage at the slider of potentiometer R 3 .
  • the voltage on C depends on the average voltage at the point 'X'.
  • transistors T 4 ⁇ T 8 are all on, the point 'X' is at a high voltage dependent on the voltage on rail 10. When these transistors are off the point 'X' is at the voltage on rail 11.
  • the time constant of resistor R 14 and capacitor C is long compared with the period of oscillation of transistors T 2 and T 3 .
  • the component values are chosen so that at the minimum setting of the potentiometer R 3 , T, and T 2 are permanently off and at the maximum T 1 and T 2 are permanently on.
  • the only current drawn by the circuit is that passing through the zener diode and the resistors R 2 , R 3 and R 4 . This "off" current can be made very small.
  • the circuit provides a closed loop control of the motor, which is insensitive to supply voltage variations but which is not affected by the back e.m.f. generated by the motor since the point X is buffered by the output amplifier.
  • the voltage at point X varies with supply voltage in the same manner as does the impressed voltage on the motor (i.e. ignoring back e.m.f.).
  • the capacitor C 3 and resistor R21 limit the rate of change of the output of the output amplifier, thereby reducing the risk of radio frequency interference.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Direct Current Motors (AREA)

Claims (4)

1. Regelschaltung für einen Gleichstrommotor mit Permanentmagnet zur Regelung der an den Motor angelegten Spannung umfassend einen Ausgangsverstärker (B) der den Motor (M) als Last aufweist, einen Treiberverstärker (A) zum Treiben des Ausgangsverstärkers (B), einen Referenzsignalgenerator (ZD1, R1―R4) der unabhängig von den Spannungsversorgungsänderungen ist, eine Rückkopplungseinrichtung (R14, C1) und eine Zeichen-Pause-Verhältnis-Regeleinrichtung (T1, T2, T3 und verbundene passive Komponenten) die mit dem Referenzsignalgenerator verbunden ist und die den Treiberverstärker regelt, um so den Ausgangsverstärker ein- und auszuschalten, gekennzeichnet durch eine Schaltung (R15, R16, R17), die den Ausgang des Treiberverstärkers mit dem Eingang des Ausgangsverstärkers verbindet und die einen Signalrückkopplungsabgriffspunkt (X) aufweist, an dem die Durchschnittsspannung repräsentativ der Durchschnittsspannung ist, die dem Motor durch den Ausgangsverstärker aufgezwungen bzw. aufgeprägt wird, wobei der Signalrückkopplungsabgriffspunkt gegenüber dem Motor durch den Ausgangsverstärker gepuffert ist und mit der Rückkopplungseinrichtung verbunden ist, wobei das Zeichen-Pause-Verhältnis zur Aufrechterhaltung der Durchschnittsspannung an dem Rückkopplungsabgriffspunkt auf einen Pegel geregelt wird, der durch den Referenzsignalgenerator unabhängig von der Motordrehzahl und den Spannungsversorgungs- änderungen bestimmt ist, so daß die Durchschnittsspannung, die an dem Motor angelegt ist, unabhängig von den Spannungsversorgungsänderungen geregelt wird.
2. Regelschaltung nach Anspruch 1, dadurch gekennzeichnet, daß die Schaltung eine Widerstandskette (R15, R16, R17) aufweist, die den Ausgang des Treiberverstärkers mit dem Eingang des Ausgangsverstärkers verbindet.
3. Regelschaltung nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß die Zeichen-Pause-Verhältnis-Steuereinrichtung einen Schaltverstärker (T2, T3) einen transienten bzw. ausgleichenden positiven Rückkopplungspfad (Rg, C2), der den Ausgang des Schaltverstärkers mit seinem Eingang verbindet, und eine Einrichtung (T,) zum Vorspannen des Eingangs des Schaltverstärkers in Übereinstimmung mit dem Referenzsignal und dem Rückkopplungssignal aufweist.
4. Regelschaltung nach Anspruch 3, dadurch gekennzeichnet, daß die Vorspanneinrichtung einen Transistor (T,), dessen Kollektor mit dem Eingang des Schaltverstärkers verbunden und außerdem durch einen Vorspannwiderstand (Re) mit einer Versorgungsschiene verbunden ist, einen zweiten Widerstand (R5), der den Emitter des Transistors (T,) mit dem Referenzsignalgenerator verbindet, einen dritten Widerstand (R14), der die Basis des Transistors (T,) mit dem Rückkopplungssignalabgriffspunkt (X) verbindet, und einen Kondensator (C1) aufweist, der die Basis des Transistors (T,) mit der Versorgungsschiene verbindet.
EP81305235A 1980-11-05 1981-11-04 Regelschaltung für einen Gleichstrommotor mit Permanentmagnet Expired EP0051974B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB8035485 1980-11-05
GB8035485 1980-11-05

Publications (2)

Publication Number Publication Date
EP0051974A1 EP0051974A1 (de) 1982-05-19
EP0051974B1 true EP0051974B1 (de) 1985-03-06

Family

ID=10517092

Family Applications (1)

Application Number Title Priority Date Filing Date
EP81305235A Expired EP0051974B1 (de) 1980-11-05 1981-11-04 Regelschaltung für einen Gleichstrommotor mit Permanentmagnet

Country Status (2)

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EP (1) EP0051974B1 (de)
DE (1) DE3169199D1 (de)

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
BE696125A (de) * 1967-03-24 1967-09-24
DE1922283A1 (de) * 1969-04-30 1970-11-12 Interelectric Ag Verfahren und Vorrichtung zur Drehzahlregelung von Gleichstrommotoren
CH523627A (fr) * 1970-05-14 1972-05-31 Matthey De L Endroit Henri Dispositif de réglage de vitesse d'un moteur à courant continu
FR2386931A1 (fr) * 1977-04-05 1978-11-03 Adtech Internal Sa Commande de vitesse d'un moteur a courant continu

Also Published As

Publication number Publication date
EP0051974A1 (de) 1982-05-19
DE3169199D1 (en) 1985-04-11

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